In a control device which can execute a first program entirely scanned in each control cycle to update a command value, and a sequentially interpreted second program, an environment for realizing higher control performance is provided. The control device includes a first program execution part scanning the entire first program in each control cycle to update a command value and a second program execution part updating the command value in each control cycle according to a sequentially interpreted second program. The second program execution part includes an interpreter generating an intermediate code and a command value operation part calculating the command value in each control cycle according to the intermediate code. The command value operation part outputs the command value in each control cycle so that the command value can be used in other processes.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A control device, controlling a control target, comprising: a data update part, updating input data and output data in each control cycle; a first program execution part, scanning an entire first program in each control cycle to update a first command value; a second program execution part, updating a second command value in each control cycle according to a sequentially interpreted second program; and a shared memory, storing the command values respectively updated by the first and the second program execution parts, wherein the second program execution part comprises: an interpreter, interpreting at least part of the second program to generate an intermediate code; and a command value operation part, calculating the second command value in each control cycle according to the intermediate code generated by the interpreter, wherein the command value operation part outputs the second command value in each control cycle in a manner which the second command value can be used in other processes, and through the shared memory, the first program execution part refers to the second command value calculated by the second command value operation part in each control cycle.
2. The control device according to claim 1 , further comprising an execution part which executes an operation process based on the second command value calculated by the command value operation part in each control cycle and data updated by the data update part.
3. The control device according to claim 2 , wherein the operation process includes numerical value processing for the second command value calculated by the command value operation part in each control cycle.
4. The control device according to claim 1 , further comprising a generation part which generates at least one of data updated by the data update part and the second command value updated by the first program execution part, and the second command value calculated by the command value operation part in each control cycle as a data set.
5. The control device according to claim 4 , further comprising an output part which externally outputs a data set generated in each control cycle.
6. The control device according to claim 1 , wherein the intermediate code includes a function through which the command value operation part updates the second command value in each control cycle.
7. The control device according to claim 6 , wherein the intermediate code includes a function which defines a relationship between time and the second command value.
8. The control device according to claim 1 , wherein the interpreter sequentially queues generated intermediate codes in a buffer, and the command value operation part is configured to read the intermediate codes in the order of being queued in the buffer.
9. The control device according to claim 1 , wherein the data update part, the first program execution part and the command value operation part are executed as high-priority tasks, and the interpreter is executed as a low-priority task.
10. A control method performed by a control device, comprising: a step of updating input data and output data in each control cycle; a step of scanning an entire first program in each control cycle to update a first command value; a step of interpreting at least part of a sequentially interpreted second program to generate an intermediate code; and a step of calculating a second command value in each control cycle according to the generated intermediate code, wherein the step of calculating the second command value according to the intermediate code outputs the second command value in each control cycle in a manner in which the second command value can be used in other processes, and through a shared memory, the step of scanning the entire first program refers to the second command value calculated in the step of calculating the second command value in each control cycle.
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February 12, 2018
March 31, 2020
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